介绍了一种基于结构光和双目视觉的焊缝三维重建方法。该方法利用轮廓点曲率提取激光条纹的轮廓关键点，再由所提取的关键点计算轮廓横截面法向量。并根据激光条纹服从正态分布的特点，借助灰度重心法提取条纹中心线。将焊缝在双目摄像机中的图像坐标点转换为世界坐标点，从而完成焊缝三维空间信息的重建。实验结果证明本文方法快速、准确，可以满足自动焊接机器人系统的应用要求。

A 3D reconstruction method based on linear-structured light stripe and binocular vision is proposed. The key points are extracted by the contour curvature, and are used to extract the normal vector of the contour. With the characteristics of the skewness of the distribution, the stripe center is extracted based on the barycenter method. The 3D reconstruction process is finished while the image coordinate of the welding seam are transformed to the word coordinate. The experimental results show that this method is quick and accurate, and is suitable for the requirements of the structure light welding system.